(19)

(11)

EP 0 937 284 A2

(12)

(43) Date of publication: 25.08.1999 Bulletin 1999/34 (21) Application number: 97946462.0 (22) Date of filing: 05.11.1997

(51) International Patent Classification (IPC):  G05D 1/ 02( . ) (86) International application number: PCT/US1997/019944 (87) International publication number: WO 1998/020399 (14.05.1998 Gazette 1998/19)

(84) Designated Contracting States: AT CH DE DK ES FI FR GB IE IT LI NL SE (30) Priority: 05.11.1996 US 19960744053 (71) Applicant: CARNEGIE MELLON UNIVERSITY Pittsburgh Pennsylvania 15213 (US)	(72) Inventors: KELLY, Alonzo, James Pittsburgh, PA 15213 (US) COULTER, Robert, Craig Apollo, PA 15613 (US) (74) Representative: Frankland, Nigel Howard, et al  FORRESTER & BOEHMERT Franz-Joseph-Strasse 38 80801 München 80801 München (DE)